Work machine control systems to monitor ground engagement tools and map obstacles

ABSTRACT

Work machines, control systems for work machines, and methods of operating work machines are disclosed. A work machine includes a frame structure, a work implement, and a control system. The work implement is coupled to the frame structure and includes at least one ground engagement tool that is configured for movement in response to interaction with an underlying surface in use of the use work machine. The control system is coupled to the frame structure and includes a sensor mounted to the at least one ground engagement tool and a controller communicatively coupled to the sensor.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority to, and the benefit of, U.S.Provisional Patent Application Ser. No. 62/928,501 entitled “WorkMachine Control Systems to Monitor Ground Engagement Tools and MapObstacles,” which was filed on Oct. 31, 2019. That application isincorporated by reference herein in its entirety.

FIELD OF THE DISCLOSURE

The present disclosure relates, generally, to control systems for workmachines such as agricultural machines, and, more specifically, tocontrol systems for tillage equipment.

BACKGROUND

Agricultural machines (e.g., tillage equipment) typically include groundengagement tools or shanks configured to penetrate the ground in usethereof. The performance of ground engagement tools may be reduced, orotherwise impacted by, obstacles (e.g., rocks, washouts) that arepresent in a particular field. Accordingly, devices and/or systems todetect obstacles, as well as devices and/or systems to monitorperformance of ground engagement tools, remain areas of interest.

SUMMARY

The present disclosure may comprise one or more of the followingfeatures and combinations thereof.

According to one aspect of the present disclosure, a work machine mayinclude a frame structure, a work implement, and a control system. Thework implement may be coupled to the frame structure, and the workimplement may include at least one ground engagement tool configured formovement in response to interaction with an underlying surface in use ofthe work machine. The control system may be coupled to the framestructure, and the control system may include a sensor mounted to the atleast one ground engagement tool and a controller communicativelycoupled to the sensor. The sensor may be configured to provide sensorinput, and the controller may include memory having instructions storedtherein that are executable by a processor to cause the processor toreceive the sensor input from the sensor and to determine that the atleast one ground engagement tool is in contact with the ground inresponse to receipt of sensor input provided by the sensor that isindicative of a characteristic of movement of the at least one groundengagement tool in use of the work machine.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to obtain performancehistory data for the at least one ground engagement tool indicative ofcharacteristics of movement of the at least one ground engagement toolin one or more previous operational states and to analyze movement ofthe at least one ground engagement tool in a current operational statebased on the sensor input and the performance history data. Theinstructions stored in the memory may be executable by the processor tocause the processor to determine whether, based on the sensor input andthe performance history data, movement of the at least one groundengagement tool in the current operational state is outside of, orinconsistent with, movement of the at least one ground engagement toolin the one or more previous operational states. Additionally, in someembodiments, the instructions stored in the memory may be executable bythe processor to cause the processor to receive one or more externalenvironment settings input by a user, to compare the sensor inputprovided by the sensor to one or more reference signals associated withthe one or more external environment settings, and to determine whetherthe sensor input is consistent with, or meets, the one or more referencesignals to evaluate performance of the working implement in certainoperational states.

In some embodiments, the work implement may include a plurality ofground engagement tools each configured for movement in response tointeraction with an underlying surface in use of the work machine, thecontrol system may include a plurality of sensors each mounted to acorresponding one of the plurality of ground engagement tools, eachcommunicatively coupled to the controller, and each configured toprovide sensor input indicative of a characteristic of movement of thecorresponding ground engagement tool in use of the work machine, and theinstructions stored in the memory may be executable by the processor tocause the processor to receive the sensor input from the plurality ofsensors, to detect movement of each of the plurality of groundengagement tools based on the sensor input, and to analyze movements ofthe plurality of ground engagement tools relative to one another inresponse to detection of movement of each of the plurality of groundengagement tools to evaluate performance uniformity of the workimplement. The instructions stored in the memory may be executable bythe processor to cause the processor to determine whether movements ofthe plurality of ground engagement tools relative to one another fallwithin one or more reference tolerances and to prompt a user to performone or more adjustments to the work implement via the control system inresponse to a determination that the movements of the plurality ofground engagement tools relative to one another fall outside the one ormore reference tolerances. Additionally, in some embodiments, theinstructions stored in the memory may be executable by the processor tocause the processor to obtain performance history data for each of theplurality of ground engagement tools that is indicative ofcharacteristics of movement for the corresponding ground engagement toolin one or more previous operational states and to analyze movement ofeach of the plurality of ground engagement tools in a currentoperational state based on the sensor input and the performance historydata. The instructions stored in the memory may be executable by theprocessor to cause the processor to determine whether movement of eachof the plurality of ground engagement tools in the current operationalstate is outside of, or inconsistent with, movement of the correspondingground engagement tool in the one or more previous operational states.

In some embodiments, the work implement may include a plurality ofground engagement tools each configured for movement in response tointeraction with an underlying surface in use of the work machine, thecontrol system may include a plurality of movement sensors each mountedto a corresponding one of the plurality of ground engagement tools, eachcommunicatively coupled to the controller, and each configured toprovide sensor input indicative of a characteristic of movement of thecorresponding ground engagement tool in use of the work machine, thecontrol system may include at least one load sensor communicativelycoupled to the controller and configured to provide sensor inputindicative of a tow load associated with the work implement in use ofthe work machine, and the instructions stored in the memory may beexecutable by the processor to cause the processor to receive the sensorinput from the plurality of movement sensors and the at least one loadsensor, to receive one or more external environment settings input by auser, and to calculate at least one ratio of the tow load associatedwith the work implement to the position of at least one groundengagement tool relative to the underlying surface based at leastpartially on the sensor input from the plurality of movement sensors andthe at least one load sensor and on the one or more external environmentsettings. The instructions stored in the memory may be executable by theprocessor to cause the processor to determine whether the calculated atleast one ratio increases as the at least one ground engagement toolextends farther into the ground and to notify a user that one or more ofthe plurality of ground engagement tools are located in one or morecompaction layers of the ground in response to a determination that theat least one ratio increases as the at least one ground engagement toolextends farther into the ground. Additionally, in some embodiments, theinstructions stored in the memory may be executable by the processor tocause the processor to determine whether the calculated at least oneratio decreases as the at least one ground engagement tool extendsfarther into the ground and to notify a user that one or more of theplurality of ground engagement tools are located beneath one or morecompaction layers of the ground in response to a determination that theat least one ratio decreases as the at least one ground engagement toolextends farther into the ground.

According to another aspect of the present disclosure, a control systemmay be mounted on a work machine that includes a frame structure and awork implement coupled to the frame structure that has a plurality ofground engagement tools each configured for movement in response tointeraction with an underlying surface in use of the work machine. Thecontrol system may include a plurality of sensors and a controller. Theplurality of sensors may each be mounted on a corresponding one of theplurality of ground engagement tools and configured to provide sensorinput. The controller may be communicatively coupled to each of theplurality of sensors, and the controller may include memory havinginstructions stored therein that are executable by a processor to causethe processor to receive the sensor input from the plurality of sensorsand to determine that the plurality of ground engagement tools are incontact with the ground in response to receipt of sensor input providedby the plurality of sensors that is indicative of characteristics ofmovement of the plurality of ground engagement tools in use of the workmachine.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to receive the sensorinput from the plurality of sensors, to detect movement of each of theplurality of ground engagement tools based on the sensor input, and toanalyze movements of the plurality of ground engagement tools relativeto one another in response to detection of movement of each of theplurality of ground engagement tools to evaluate performance uniformityof the work implement. The instructions stored in the memory may beexecutable by the processor to cause the processor to obtain performancehistory data for each of the plurality of ground engagement tools thatis indicative of characteristics of movement for the correspondingground engagement tool in one or more previous operational states and toanalyze movement of each of the plurality of ground engagement tools ina current operational state based on the sensor input and theperformance history data.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to receive one ormore external environment settings input by a user, to compare thesensor input provided by the plurality of sensors to one or morereference signals associated with the one or more external environmentsettings, and to determine whether the sensor input is consistent with,or meets, the one or more reference signals to evaluate performance ofthe working implement in certain operational states. Additionally, insome embodiments, the control system may include at least one loadsensor communicatively coupled to the controller and configured toprovide sensor input indicative of a tow load associated with the workimplement in use of the work machine, the plurality of sensors mayinclude a plurality of movement sensors each configured to providesensor input indicative of a characteristic of movement of acorresponding ground engagement tool in use of the work machine, and theinstructions stored in the memory may be executable by the processor tocause the processor to receive the sensor input from the plurality ofmovement sensors and the at least one load sensor, to receive one ormore external environment settings input by a user, and to calculate atleast one ratio of the tow load associated with the work implement tothe position of at least one ground engagement tool relative to theunderlying surface based at least partially on the sensor input from theplurality of movement sensors and the at least one load sensor and onthe one or more external environment settings.

According to yet another aspect of the present disclosure, a method ofoperating a work machine that includes a frame structure and a workimplement coupled to the frame structure that has a plurality of groundengagement tools each configured for movement in response to interactionwith an underlying surface in use of the work machine may includereceiving, by a controller of the work machine, sensor input provided bya plurality of sensors each mounted on a corresponding one of theplurality of ground engagement tools, and determining, by thecontroller, that the plurality of ground engagement tools are in contactwith the ground in response to receipt of sensor input provided by theplurality of sensors that is indicative of characteristics of movementof the plurality of ground engagement tools in use of the work machine.

In some embodiments, the method may include detecting, by thecontroller, movement of each of the plurality of ground engagement toolsbased on the sensor input, analyzing, by the controller, movements ofthe plurality of ground engagement tools relative to one another inresponse to detection of movement of each of the plurality of groundengagement tools to evaluate performance uniformity of the workimplement, obtaining, by the controller, performance history data foreach of the plurality of ground engagement tools that is indicative ofcharacteristics of movement for the corresponding ground engagement toolin one or more previous operational states, and analyzing, by thecontroller, movement of each of the plurality of ground engagement toolsin a current operational state based on the sensor input and theperformance history data. Additionally, in some embodiments, the methodmay include receiving, by the controller, one or more externalenvironment settings input by a user, comparing, by the controller, thesensor input provided by the plurality of sensors to one or morereference signals associated with the one or more external environmentsettings, and determining, by the controller, whether the sensor inputis consistent with, or meets, the one or more reference signals toevaluate performance of the working implement in certain operationalstates.

In some embodiments, the method may include receiving, by thecontroller, sensor input provided by each of a plurality of movementsensors that is indicative of a characteristic of movement of acorresponding ground engagement tool in use of the work machine,receiving, by the controller, sensor input provided by at least one loadsensor that is indicative of a tow load associated with the workimplement in use of the work machine, receiving, by the controller, oneor more external environment settings input by a user, and calculating,by the controller, at least one ratio of the tow load associated withthe work implement to the position of at least one ground engagementtool relative to the underlying surface based at least partially on thesensor input from the plurality of movement sensors and the at least oneload sensor and on the one or more external environment settings.

According to yet another aspect still of the present disclosure, a workmachine may include a frame structure, a work implement, and a controlsystem. The work implement may be coupled to the frame structure andinclude a plurality of ground engagement tools each configured formovement in response to interaction with an underlying surface in use ofthe work machine. The control system may be coupled to the framestructure and include a plurality of sensors each mounted to acorresponding one of the ground engagement tools and a controllercommunicatively coupled to the plurality of sensors. Each of theplurality of sensors may be configured to provide sensor inputindicative of a characteristic of movement of the corresponding groundengagement tool in use of the work machine. The controller may includememory having instructions stored therein that are executable by aprocessor to cause the processor to receive the sensor input from theplurality of sensors, to identify the presence of one or more obstaclesbased on the sensor input, and to selectively map, with the aid of alocation system, a location of one or more obstacles in response to anidentification that one or more obstacles are present to generate eventdata for a particular field.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to determine, basedon the sensor input, movement of the ground engagement tools in responseto an identification that one or more obstacles are present, and to mapthe location of the one or more present obstacles in response to adetermination of a lack of movement of at least one of the plurality ofground engagement tools. The instructions stored in the memory may beexecutable by the processor to cause the processor to compare the sensorinput provided by the plurality of sensors to a reference eventthreshold in response to a determination of movement of all of theplurality of ground engagement tools. The instructions stored in thememory may be executable by the processor to cause the processor to mapthe location of the one or more present obstacles in response to adetermination that the sensor input provided by the plurality of sensorsis greater than the reference event threshold.

In some embodiments, the control system may include an obstacledetection system coupled to the frame structure and communicativelycoupled to the controller, the obstacle detection system may beconfigured to provide detection input indicative of a presence orabsence of one more obstacles in the particular field, and theinstructions stored in the memory may be executable by the processor tocause the processor to receive the detection input provided by theobstacle detection system, to identify the presence of one or moreobstacles based on the detection input and the sensor input, and toselectively map, with the aid of the location system and based on thedetection input and the sensor input, a location of one or moreobstacles in response to an identification that one or more obstaclesare present to generate event data for the particular field. Theobstacle detection system may include at least one of the following: aradar detection system, a LIDAR detection system, a camera-baseddetection system, or an ultrasonic detection system.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to, in response tothe identification that one or more obstacles are present, obtain eventhistory data for the particular field that is indicative of obstaclespreviously present in the particular field. The instructions stored inthe memory may be executable by the processor to cause the processor todetermine whether a position of one or more obstacles associated withthe detection input and the sensor input is proximate to a position ofone or more obstacles associated with the event history data. Theinstructions stored in the memory may be executable by the processor tocause the processor to map a location of the one or more obstacles inresponse to a determination that the position of the one or moreobstacles associated with the detection input and the sensor input isnot proximate to the position of the one or more obstacles associatedwith the event history data. Additionally, in some embodiments, theinstructions stored in the memory may be executable by the processor tocause the processor to establish a trend for the particular field basedon the position of the one or more obstacles associated with thedetection input and the sensor input and the position of the one or moreobstacles associated with the event history data in response to adetermination that the position of the one or more obstacles associatedwith the detection input and the sensor input is proximate to theposition of the one or more obstacles associated with the event historydata.

According to a further aspect of the present disclosure, a controlsystem may be mounted on a work machine that includes a frame structureand a work implement coupled to the frame structure that has a pluralityof ground engagement tools each configured for movement in response tointeraction with an underlying surface in use of the work machine. Thecontrol system may include an obstacle detection system and acontroller. The obstacle detection system may be coupled to the framestructure and configured to provide detection input indicative of apresence or absence of one more obstacles in a particular field. Thecontroller may be communicatively coupled to the obstacle detectionsystem. The controller may include memory having instructions storedtherein that are executable by a processor to cause the processor toreceive the detection input provided by the obstacle detection system,to identify the presence of one or more obstacles based on the detectioninput, and to selectively map, with the aid of the location system andbased on the detection input, a location of one or more obstacles inresponse to an identification that one or more obstacles are present togenerate event data for the particular field.

In some embodiments, the control system may include a plurality ofsensors each mounted to a corresponding one of the ground engagementtools and communicatively coupled to the controller, each of theplurality of sensors may be configured to provide sensor inputindicative of a characteristic of movement of the corresponding groundengagement tool in use of the work machine, and the instructions storedin the memory may be executable by the processor to cause the processorto receive the sensor input provided by the plurality of sensors, toidentify the presence of one or more obstacles based on the detectioninput and the sensor input, and to selectively map, with the aid of thelocation system and based on the detection input and the sensor input, alocation of one or more obstacles in response to the identification thatone or more obstacles are present to generate event data for theparticular field. The instructions stored in the memory may beexecutable by the processor to cause the processor to determine, basedon the sensor input and the detection input, movement of the groundengagement tools in response to the identification that one or moreobstacles are present, and to map the location of the one or morepresent obstacles in response to a determination of a lack of movementof at least one of the plurality of ground engagement tools.Additionally, in some embodiments, the instructions stored in the memorymay be executable by the processor to cause the processor to compare thesensor input and the detection input to a reference event threshold inresponse to a determination of movement of all of the plurality ofground engagement tools, and wherein the instructions stored in thememory are executable by the processor to cause the processor to map thelocation of the one or more present obstacles in response to adetermination that the sensor input and the detection input is greaterthan the reference event threshold.

In some embodiments, the instructions stored in the memory may beexecutable by the processor to cause the processor to, in response tothe identification that one or more obstacles are present, obtain eventhistory data for the particular field that is indicative of obstaclespreviously present in the particular field, and to determine whether aposition of one or more obstacles associated with the detection inputand the sensor input is proximate to a position of one or more obstaclesassociated with the event history data. The instructions stored in thememory may be executable by the processor to cause the processor to mapa location of the one or more obstacles in response to a determinationthat the position of the one or more obstacles associated with thedetection input and the sensor input is not proximate to the position ofthe one or more obstacles associated with the event history data.

According to a further aspect of the present disclosure still, a methodof operating a work machine that includes a frame structure and a workimplement coupled to the frame structure that has a plurality of groundengagement tools each configured for movement in response to interactionwith an underlying surface in use of the work machine may includereceiving, by a controller of the work machine, sensor input provided bya plurality of sensors each mounted on a corresponding one of theplurality of ground engagement tools that is indicative of acharacteristic of movement of the corresponding ground engagement toolin use of the work machine, receiving, by the controller, detectioninput provided by an obstacle detection system coupled to the framestructure that is indicative of a presence or absence of one or moreobstacles in a particular field, identifying, by the controller, thepresence of one or more obstacles in the field based on the sensor inputand the detection input, and selectively mapping, by the controller andwith the aid of a location system, a location of one or more obstaclesbased on the sensor input and the detection input in response to anidentification that one or more obstacles are present to generate eventdata for the particular field.

In some embodiments, the method may include determining, by thecontroller and based on the sensor input and the detection input,movement of the ground engagement tools in response to theidentification that one or more obstacles are present, and selectivelymapping the location of the one or more obstacles may include mappingthe location of the one or more present obstacles in response to adetermination of a lack of movement of at least one of the plurality ofground engagement tools. Additionally, in some embodiments, the methodmay include obtaining, by the controller in response to theidentification that one or more obstacles are present, event historydata for the particular field that is indicative of obstacles previouslypresent in the particular field, and determining, by the controller,whether a position of one or more obstacles associated with thedetection input and the sensor input is proximate to a position of oneor more obstacles associated with the event history data. Selectivelymapping the location of the one or more obstacles may include mappingthe location of the one or more obstacles in response to a determinationthat the position of the one or more obstacles associated with thedetection input and the sensor input is not proximate to the position ofthe one or more obstacles associated with the event history data.

These and other features of the present disclosure will become moreapparent from the following description of the illustrative embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention described herein is illustrated by way of example and notby way of limitation in the accompanying figures. For simplicity andclarity of illustration, elements illustrated in the figures are notnecessarily drawn to scale. For example, the dimensions of some elementsmay be exaggerated relative to other elements for clarity. Further,where considered appropriate, reference labels have been repeated amongthe figures to indicate corresponding or analogous elements.

FIG. 1 is a perspective view of a work implement of a work machine witha ground engagement tool thereof depicted in a normal operatingposition;

FIG. 2 is a perspective view of the work implement of FIG. 1 with theground engagement tool thereof depicted in a tripped position;

FIG. 3 is a side elevation view of a ground engagement tool of the workimplement of FIG. 1 with one or more movement sensors and/or at leastone obstacle detection system coupled thereto;

FIG. 4 is a perspective view of an agricultural vehicle coupled to thework implement of FIG. 1 that has one or more load sensors;

FIG. 5 is a perspective view of the agricultural vehicle shown in FIG. 4having one or more obstacle detection systems coupled thereto;

FIG. 6 is a diagrammatic view of a control system for the work machinethat includes the work implement shown in FIG. 1 ;

FIG. 7 is a diagrammatic view of a number of modules that may beincluded in a controller of the control system shown in FIG. 6 ;

FIG. 8 is a simplified flowchart of a method that may be performed by atool performance module of the controller diagrammatically depicted inFIG. 7 ;

FIG. 9 is a simplified flowchart of a method that may be performed by atool ground engagement detection module of the controllerdiagrammatically depicted in FIG. 7 ;

FIG. 10 is a simplified flowchart of a method that may be performed by atool soil compaction detection module of the controller diagrammaticallydepicted in FIG. 7 ;

FIG. 11 is a simplified flowchart of a method that may be performed by atool movement profile detection module of the controllerdiagrammatically depicted in FIG. 7 ;

FIG. 12 is a simplified flowchart of a method that may be performed byone obstacle detection and mapping module of the controllerdiagrammatically depicted in FIG. 7 ; and

FIG. 13 is a simplified flowchart of a method that may be performed byanother obstacle detection and mapping module of the controllerdiagrammatically depicted in FIG. 7 .

DETAILED DESCRIPTION

While the concepts of the present disclosure are susceptible to variousmodifications and alternative forms, specific embodiments thereof havebeen shown by way of example in the drawings and will be describedherein in detail. It should be understood, however, that there is nointent to limit the concepts of the present disclosure to the particularforms disclosed, but on the contrary, the intention is to cover allmodifications, equivalents, and alternatives consistent with the presentdisclosure and the appended claims.

References in the specification to “one embodiment,” “an embodiment,”“an illustrative embodiment,” etc., indicate that the embodimentdescribed may include a particular feature, structure, orcharacteristic, but every embodiment may or may not necessarily includethat particular feature, structure, or characteristic. Moreover, suchphrases are not necessarily referring to the same embodiment. Further,when a particular feature, structure, or characteristic is described inconnection with an embodiment, it is submitted that it is within theknowledge of one skilled in the art to effect such feature, structure,or characteristic in connection with other embodiments whether or notexplicitly described. Additionally, it should be appreciated that itemsincluded in a list in the form of “at least one A, B, and C” can mean(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C).Similarly, items listed in the form of “at least one of A, B, or C” canmean (A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C).

In the drawings, some structural or method features may be shown inspecific arrangements and/or orderings. However, it should beappreciated that such specific arrangements and/or orderings may not berequired. Rather, in some embodiments, such features may be arranged ina different manner and/or order than shown in the illustrative figures.Additionally, the inclusion of a structural or method feature in aparticular figure is not meant to imply that such feature is required inall embodiments and, in some embodiments, may not be included or may becombined with other features.

A number of features described below may be illustrated in the drawingsin phantom. Depiction of certain features in phantom is intended toconvey that those features may be hidden or present in one or moreembodiments, while not necessarily present in other embodiments.Additionally, in the one or more embodiments in which those features maybe present, illustration of the features in phantom is intended toconvey that the features may have location(s) and/or position(s)different from the locations(s) and/or position(s) shown.

Referring now to FIG. 1 , an illustrative work machine 100 is embodiedas, or otherwise includes, an agricultural implement 102 that isconfigured for interaction with an underlying surface (i.e., the ground)in use thereof. It should be appreciated that the implement 102 isconfigured for attachment to a hitch, drawbar, or other suitableimplement attachment interface of an agricultural vehicle such as atractor 400 (see FIG. 4 ), for example. The tractor 400 is thereforeconfigured to tow, pull, or otherwise drive movement of the implement102 in use of the implement 102.

In the illustrative embodiment, the agricultural implement 102 isembodied as, or otherwise includes, tillage equipment. In someembodiments, the illustrative implement 102 may be embodied as, orotherwise include, any one of a number of tillage devices manufacturedby John Deere. For example, the implement 102 may be embodied as, orotherwise include, any one of the following: a series 22B Ripper, aseries 2720 Disk Ripper, a series 2730 Combination Ripper, a series 2100Minimum-Till, a series 913 V-Ripper, a series 915 V-Ripper, a SR1201Frontier™ Shank Ripper, a SR1202 Frontier™ Shank Ripper, and a SR1203Frontier™ Shank Ripper. Of course, in other embodiments, it should beappreciated that the agricultural implement 102 may be embodied as, orotherwise include, any other suitable tillage device.

The illustrative agricultural implement 102 is adapted for use in one ormore tillage applications. However, in some embodiments, the implement102 may be adapted for use in other applications. For example, in someembodiments, the implement 102 may be embodied as, included in, orotherwise adapted for use with, equipment used in lawn and garden,construction, landscaping and ground care, golf and sports turf,forestry, engine and drivetrain, or government and militaryapplications. In such embodiments, the implement 102 of the presentdisclosure may be included in, or otherwise adapted for use with,tractors, front end loaders, scraper systems, cutters and shredders, hayand forage equipment, planting equipment, seeding equipment, sprayersand applicators, utility vehicles, mowers, dump trucks, backhoes, trackloaders, crawler loaders, dozers, excavators, motor graders, skidsteers, tractor loaders, wheel loaders, rakes, aerators, skidders,bunchers, forwarders, harvesters, swing machines, knuckleboom loaders,diesel engines, axles, planetary gear drives, pump drives,transmissions, generators, or marine engines, among other suitableequipment.

The illustrative agricultural implement 102 includes a frame structure110 and a work implement 120 coupled to the frame structure 110. Theframe structure 110 may include, or otherwise be embodied as, a mainframe or main chassis of the implement 102. The work implement 120 isembodied as, or otherwise includes, a collection of structures that areconfigured for interaction with the ground to till or cultivate anagricultural field.

In the illustrative embodiment, the work implement 120 includes groundengagement tools 130, each of which is configured for movement inresponse to interaction with an underlying surface (i.e., the ground) inuse of the work machine 100 as further discussed below. Each of theillustrative ground engagement tools 130 is embodied as, or otherwiseincludes, a shank assembly 132. However, in other embodiments, it shouldbe appreciated that each of the ground engagement tools 130 may beembodied as, or otherwise include, another suitable ground engagementdevice, such as a blade, a disk, a roller, a sweep, a tine, a chisel, ora plow, for example.

As best seen in FIGS. 1-3 , each shank assembly 132 illustrativelyincludes a retention assembly 134, a base bar 136, biasing elements 138,140, plates 142, 144, a pivot pin 146, a shear pin 148, and a shankmember 150. The retention assembly 134 is embodied as, or otherwiseincludes, a number of components cooperatively configured to receive amounting bar 112 included in, or otherwise coupled to, the framestructure 110 to retain the shank assembly 132 during operation. Thebase bar 136 is pivotally coupled to the retention assembly 134 (i.e.,to at least one component thereof) and positioned between, and incontact with, the plates 142, 144. The biasing elements 138, 140 extendbetween, and are coupled to, the retention assembly 134 and the plates142, 144 such that the biasing elements 138, 140 are vertically spacedfrom the base bar 136. The shank member 150 is pivotally coupled to theplates 142, 144 by the pivot pin 146. Pivotal movement of the shankmember 150 relative to the plates 142, 144 is substantially limited bythe shear pin 148, which at least partially secures the shank member 150to the plates 142, 144.

When the shank member 150 of each shank assembly 132 contacts and/orpenetrates the ground in use of the work machine 100, the shank member150 may be exposed to underground obstacles, such as rocks, washouts,impediments, obstructions, etc. Contact with an obstacle of considerablesize may cause the shear pin 148 to shear or fracture, thereby allowingthe shank member 150 to pivot relative to the plates 142, 144 about thepivot pin 146 upwardly and away from the obstacle to minimize damage tothe shank assembly 132. Thus, shearing or fracturing of the shear pin148 provides a protective measure that results in, or is otherwiseassociated with, movement of the shank assembly 132 away from its normalground-engaging position.

Referring now to FIGS. 1 and 2 , one shank assembly 132 (i.e., theleftmost shank assembly 132) is illustratively depicted in a rippingposition 152 (see FIG. 1 ) and a tripped position 254 (see FIG. 2 ). Theripping position 152 of the shank assembly 132 corresponds to, or isotherwise associated with, a normal operating position of the shankassembly 132 in which the shank member 150 penetrates the ground. In theripping position 152 of the shank assembly 132, the shank member 150 isconfigured for some degree of movement (e.g., movement with the plates142, 144 relative to the retention assembly 134 that is facilitated bythe biasing elements 138, 140) when the shank member 150 penetrates theground. However, as indicated above, such movement is limited by theintact shear pin 148. In response to shearing or fracturing of the shearpin 148, the shank member 150 pivots relative to the plates 142, 144away from the ground to the tripped position 254.

To control operation of the agricultural implement 102, the work machine100 illustratively includes a control system 602 (see FIG. 6 ). Thecontrol system 602 may be coupled to and mounted on the frame structure110 of the agricultural implement 102 or on the tractor 400. Asdescribed in greater detail below, the control system 602 includes amovement sensor 302 (see FIG. 3 ) mounted to each shank assembly 132that is configured to provide sensor input and a controller 604communicatively coupled to the movement sensor 302. The controller 604includes memory 606 having instructions stored therein that areexecutable by a processor 608 to cause the processor 608 to receive thesensor input from the movement sensor 302 and to determine that thecorresponding shank assembly 132 is in contact with the ground inresponse to receipt of sensor input from the sensor 302 that isindicative of a characteristic of movement of the shank assembly 132 inuse of the work machine 100.

Such control by the controller 604 facilitates monitoring and/orevaluation of the performance of each shank assembly 132 in use of thework machine 100, among other things. In the illustrative embodiment,when each shank assembly 132 is in the ripping position 152, the sensorinput provided by each movement sensor 302 is indicative of acharacteristic of movement of the corresponding shank assembly 132 thatoccurs during, corresponds to, or is otherwise associated with, normaloperation of the work machine 100. It should be appreciated that thesensor input provided by each movement sensor 302 that occurs duringnormal operation of the work machine 100 may be characterized by, orotherwise associated with, sensor input below a reference thresholdand/or within a reference tolerance. It should also be appreciated thata lack of sensor input from each movement sensor 302, sensor input fromeach movement sensor 302 that exceeds the reference threshold, and/orsensor output from each movement sensor 302 that lies outside of thereference tolerance may be indicative of a fault condition of the workmachine 100, such as movement of one or more shank assemblies 132 to thetripped position(s) 254 in response to encountering one or moreobstacles, for example.

Referring now to FIG. 3 , in some embodiments, one movement sensor 302included in the control system 602 may be mounted to each shank assembly132 in close proximity to the shear pin 148. In such embodiments, sensorinput provided by the sensor 302 may be used to detect movement of theshank member 150 and/or the presence of the shear pin 148 in use of thework machine 100. In other embodiments (i.e., as indicated by thedepiction of those features in phantom), one movement sensor 302 may bemounted to each shank assembly 132 in another suitable location. In oneexample, the movement sensor 302 may be mounted in close proximity tothe biasing elements 138, 140 to detect deflection of the elements 138,140 in use of the work machine 100. In another example, the movementsensor 302 may be mounted in close proximity to a pivotal coupling 310between the retention assembly 134 and the base bar 136 to detectmovement of various components (e.g., the base bar 136 and/or the plates142, 144 relative to the retention assembly 134) in use of the workmachine 100. Of course, it should be appreciated that in otherembodiments still, the movement sensor 302 may be mounted to each shankassembly 132 in another suitable location.

In the illustrative embodiment, each movement sensor 302 is embodied as,or otherwise includes, any device or collection of devices capable ofsensing movement of the shank assembly 132 to which the movement sensor302 is mounted. In some embodiments, each movement sensor 302 may beembodied as, or otherwise include, a linear potentiometer, a rotarypotentiometer, an accelerometer, an inertial sensor or inertialmeasurement device, a Hall effect sensor, a proximity sensor, acapacitive transducer, or the like. Of course, in other embodiments, itshould be appreciated that each movement sensor 302 may be embodied as,or otherwise include, another suitable device.

In some embodiments, a depth sensor 304 included in the control system602 may be mounted to the shank member 150 of each shank assembly 132.Each depth sensor 304 may be illustratively embodied as, or otherwiseinclude, any device or collection of devices capable of providing sensorinput indicative of a characteristic of position of the shank assembly132 to which the depth sensor 304 is mounted relative to the ground. Insome embodiments, the sensor input provided by each depth sensor 304 maybe indicative of a distance that the corresponding shank member 150extends into the ground (i.e., a penetration depth of the shank member150 into the ground). In some embodiments, each depth sensor 304 may beembodied as, or otherwise include, a linear potentiometer, a rotarypotentiometer, an accelerometer, an inertial sensor or inertialmeasurement device, a Hall effect sensor, a proximity sensor, acapacitive transducer, or the like. Of course, in other embodiments, itshould be appreciated that each depth sensor 304 may be embodied as, orotherwise include, another suitable device.

It should be appreciated that in some embodiments, the depth sensors 304may be omitted from the control system 602 entirely. In suchembodiments, a characteristic of position of the shank assembly 132(e.g., a penetration depth or distance that the shank member 150 extendsinto the ground) may be determined based on sensor input provided byother sensor(s) included in the control system 602, such as the movementsensors 302, for example.

In some embodiments, an obstacle detection system 320 included in thecontrol system 602 may be coupled to the work machine 100 (i.e., asindicated by the depiction of that feature in phantom). The obstacledetection system 320, and similar systems described below with referenceto FIGS. 5 and 6 , is embodied as, or otherwise includes, any collectionof devices capable of cooperatively providing detection input indicativeof a presence or absence of one more obstacles in an agricultural field.The obstacle detection system 320 proactively detects the presence orabsence of obstacles in a predetermined or reference detection area,which may be established based on the coupling location of the obstacledetection system 320 to the work machine 100. In embodiments in whichone or more obstacle detection systems 320 are coupled to the workmachine 100 and one movement sensor 302 is mounted to each shankassembly 132, the one or more detection systems 320 and the movementsensors 302 may provide, respectively, proactive and reactive devicesfor monitoring the performance of the shank assemblies 132 andidentifying underground obstacles that may be encountered by the workmachine 100 in use thereof.

Referring now to FIG. 4 , the work machine 100 is coupled to and towedby the tractor 400 in use thereof. The ground engagement tools 130 ofthe illustrative work machine 100 are arranged adjacent to one anotherin rows 432. To evaluate performance uniformity of the agriculturalimplement 102 across each of the rows 432, as described in greaterdetail below with reference to FIG. 8 , the instructions stored in thememory 606 are executable by the processor 608 to cause the processor608 to receive the sensor input provided by the movement sensors 302coupled to the shank assemblies 132, to detect movement of each of theshank assemblies 132 based on the sensor input, and to analyze movementsof the shank assemblies 132 relative to one another in response todetection of movement of each of the shank assemblies 132.

In some embodiments, one or more load sensors 402, which may be includedin the control system 602 or provided externally from the control system602, may be mounted to the tractor 400. Each load sensor 402 may beembodied as, or otherwise include, any device or collection of devicescapable of providing tow load sensor input indicative of a tow loadassociated with the implement 102 when the vehicle 400 is used to towthe implement 102. In some embodiments, each load sensor 402 may beembodied as, or otherwise include, a load cell such as a strain gageload cell, a piezoelectric load cell, a hydraulic load cell, or apneumatic load cell, for example. Of course, in other embodiments, itshould be appreciated that each load sensor 402 may be embodied as, orotherwise include, another suitable load sensor. It should beappreciated that in some embodiments, the tow load sensor input providedby each of the sensor(s) 402 may be indicative of an actual load appliedto a hitch of the tractor 400 by the implement 102. Additionally, itshould be appreciated that in other embodiments, the tow load sensorinput provided by each of the sensor(s) 402 may be indicative of a loadapplied to an engine of the tractor 400 by the implement 102, or of fuelconsumed by the engine of the tractor 400 while towing the implement102.

Referring now to FIG. 5 , in some embodiments, rather than being mountedon or coupled to the work machine 100 (e.g., like the obstacle detectionsystem 320), an obstacle detection system 520 may be mounted in one ormore locations (i.e., as indicated by the depiction of one or morefeatures in phantom) on the tractor 400. The obstacle detection system520 may be substantially identical to the obstacle detection system 320.In one example, the obstacle detection system 520 may be mounted on anoperator cab 410 of the vehicle 400 to facilitate proactive detection ofthe presence or absence of obstacles in a predetermined or referencedetection area 522 that is located in front of the vehicle 400. Inanother example, the obstacle detection system 520 may be mounted on theoperator cab 410 to facilitate proactive detection of the presence orabsence of obstacles in a predetermined or reference detection area 524that is located behind the vehicle 400. Of course, it should beappreciated that in other embodiments, the obstacle detection system 520may be mounted on the vehicle 400 in another suitable location.

In the illustrative embodiment, the agricultural vehicle 400 has aGlobal Positioning System (GPS) 530 coupled thereto. It should beappreciated that the GPS 530 may be integrated with the electricalcomponents of the control system 602 (e.g., as depicted in FIG. 6 ) orincluded as an accessory that may be added on to the vehicle 400. TheGPS 530 is illustratively mounted on the operator cab 410. However, inother embodiments, it should be appreciated that the GPS 530 may bemounted in another suitable location, such as on another portion of thevehicle 400 or on the agricultural implement 102, for example.

The illustrative vehicle 400 has antennas 532, 534 coupled thereto andmounted on the operator cab 410. Of course, it should be appreciatedthat, in other embodiments, the antennas 532, 534 may be coupled to andmounted on another suitable portion of the vehicle 400 The antennas 532,534 are communicatively coupled to the GPS 530 and adapted for usetherewith. In some embodiments, rather than being externally coupled tothe GPS 530, the antennas 532, 534 may be integrated with and/orincluded in the GPS 530. In any case, the antennas 532, 534 areconfigured to receive signals from satellites or the like so that thelocation of the antennas 532, 534 may be determined by the GPS 530. Putanother way, the physical location of the antennas 532, 534 may be thebasis for establishing the location identified by the GPS 530.

Referring now to FIG. 6 , in the illustrative embodiment, the controlsystem 602 includes the movement sensors 302, the one or more loadsensor(s) 402, at least one proactive obstacle detection system 320,520, tool positioning and adjustment mechanisms 636, a dashboard 638,and a location system 644. Each of the devices and/or systems 302, 304,402, 320, 520, 636, 638, 644 is communicatively coupled to thecontroller 604. In some embodiments, the control system 602 may includea receiver unit 646 communicatively coupled to the controller 604.Additionally, in some embodiments as indicated above, the control system602 may include the depth sensors 304.

The processor 608 of the illustrative controller 604 may be embodied as,or otherwise include, any type of processor, controller, or othercompute circuit capable of performing various tasks such as computefunctions and/or controlling the functions of the agricultural implement102. For example, the processor 608 may be embodied as a single ormulti-core processor(s), a microcontroller, or other processor orprocessing/controlling circuit. In some embodiments, the processor 608may be embodied as, include, or otherwise be coupled to an FPGA, anapplication specific integrated circuit (ASIC), reconfigurable hardwareor hardware circuitry, or other specialized hardware to facilitateperformance of the functions described herein. Additionally, in someembodiments, the processor 608 may be embodied as, or otherwise include,a high-power processor, an accelerator co-processor, or a storagecontroller. In some embodiments still, the processor 608 may includemore than one processor, controller, or compute circuit.

The memory device 606 of the illustrative controller 604 may be embodiedas any type of volatile (e.g., dynamic random access memory (DRAM),etc.) or non-volatile memory capable of storing data therein. Volatilememory may be embodied as a storage medium that requires power tomaintain the state of data stored by the medium. Non-limiting examplesof volatile memory may include various types of random access memory(RAM), such as dynamic random access memory (DRAM) or static randomaccess memory (SRAM). One particular type of DRAM that may be used in amemory module is synchronous dynamic random access memory (SDRAM). Inparticular embodiments, DRAM of a memory component may comply with astandard promulgated by JEDEC, such as JESD79F for DDR SDRAM, JESD79-2Ffor DDR2 SDRAM, JESD79-3F for DDR3 SDRAM, JESD79-4A for DDR4 SDRAM,JESD209 for Low Power DDR (LPDDR), JESD209-2 for LPDDR2, JESD209-3 forLPDDR3, and JESD209-4 for LPDDR4 (these standards are available atwww.jedec.org). Such standards (and similar standards) may be referredto as DDR-based standards and communication interfaces of the storagedevices that implement such standards may be referred to as DDR-basedinterfaces.

In some embodiments, the memory device 606 may be embodied as a blockaddressable memory, such as those based on NAND or NOR technologies. Thememory device 606 may also include future generation nonvolatiledevices, such as a three dimensional crosspoint memory device (e.g.,Intel 3D XPoint™ memory), or other byte addressable write-in-placenonvolatile memory devices. In some embodiments, the memory device 606may be embodied as, or may otherwise include, chalcogenide glass,multi-threshold level NAND flash memory, NOR flash memory, single ormulti-level Phase Change Memory (PCM), a resistive memory, nanowirememory, ferroelectric transistor random access memory (FeTRAM),anti-ferroelectric memory, magnetoresistive random access memory (MRAM)memory that incorporates memristor technology, resistive memoryincluding the metal oxide base, the oxygen vacancy base and theconductive bridge Random Access Memory (CB-RAM), or spin transfer torque(STT)-MRAM, a spintronic magnetic junction memory based device, amagnetic tunneling junction (MTJ) based device, a DW (Domain Wall) andSOT (Spin Orbit Transfer) based device, a thyristor based memory device,or a combination of any of the above, or other memory. The memory devicemay refer to the die itself and/or to a packaged memory product. In someembodiments, 3D crosspoint memory (e.g., Intel 3D XPoint™ memory) maycomprise a transistor-less stackable cross point architecture in whichmemory cells sit at the intersection of word lines and bit lines and areindividually addressable and in which bit storage is based on a changein bulk resistance.

In the illustrative embodiment, the control system 602 includes theobstacle detection system 320 and/or the obstacle detection system 520.Each of the illustrative systems 320, 520 may be embodied as, orotherwise include, any one of the following: a camera detection system610, a radar detection system 616, a lidar detection system 624, and anultrasonic detection system 630. Of course, it should be appreciatedthat in other embodiments, each of the illustrative systems 320, 520 mayinclude one or more of the systems 610, 616, 624, 630. Furthermore, atleast in some embodiments, it should be appreciated that the controlsystem 602 may include either the movement sensors 302 or one of theobstacle detection systems 320, 520.

The illustrative camera detection system 610 is embodied as, orotherwise includes, any device or collection of devices capable ofdetecting and/or imaging obstacles in an agricultural field that may beencountered by the agricultural implement 102 in use thereof. Theillustrative system 610 includes one or more camera(s) 612 and one ormore light source(s) 614 communicatively coupled to the controller 604.Each camera 612 is configured to capture and/or store images of anagricultural field to locate and identify underground obstacles. In someembodiments, each camera 612 may be embodied as, or otherwise include, adigital camera, a panoramic camera, or the like, for example.Additionally, in some embodiments, each camera 612 may be included in,coupled to, or otherwise adapted for use with, a vision system. Itshould also be appreciated that each camera 612 has a viewable areaassociated therewith that may be illuminated with the aid of the one ormore light source(s) 614. Each light source 614 may be embodied as, orotherwise include, any device capable of producing light to facilitatecapture and/or identification of obstacles present in an agriculturalfield. It should be appreciated in some embodiments, the detectionsystem 610 may include other suitable components in addition to, or asan alternative to, the aforementioned devices.

The illustrative radar detection system 616 is embodied as, or otherwiseincludes, any device or collection of devices capable of detectingand/or imaging, based on radio waves, obstacles in an agricultural fieldthat may be encountered by the agricultural implement 102 in usethereof. The illustrative system 616 includes one or more transmitter(s)618, one or more antenna(s) 620, and one or more signal processor(s) 622communicatively coupled to the controller 604. Each transmitter 618 isembodied as, or otherwise includes, any device or collection of devicescapable of emitting radio waves or radar signals in predetermineddirections toward obstacles located in an agricultural field. Eachantenna or receiver 620 is embodied as, or otherwise includes, anydevice or collection of devices capable of receiving radar signalsemitted by the transmitter(s) 618 that are reflected and/or scattered bythe obstacles. Each signal processor 622 is embodied as, or otherwiseincludes, any device or collection of devices (e.g., one or moreprocessor(s)) capable of amplifying, processing, and/or conditioningradar signals received by the antenna(s) 620 to recover useful radarsignals. It should be appreciated in some embodiments, the detectionsystem 616 may include other suitable components in addition to, or asan alternative to, the aforementioned devices.

The illustrative lidar detection system 624 is embodied as, or otherwiseincludes, any device or collection of devices capable of detectingand/or imaging, using ultraviolet, visible, or near infrared light,obstacles in an agricultural field that may be encountered by theagricultural implement 102 in use thereof. The illustrative detectionsystem 624 includes one or more laser(s) 626 and one or more imagecapture device(s) 628 communicatively coupled to the controller 604.Each laser 626 may be embodied as, or otherwise include, any device orcollection of devices capable of emitting ultraviolet, visible, or nearinfrared light toward obstacles in an agricultural field. Each imagecapture device 628 may be embodied as, or otherwise include, any deviceor collection of devices capable of illuminating a viewable area in anagricultural field, sensing light reflected by the obstacles thereto,and processing the signals reflected by the obstacles to developthree-dimensional representations of the obstacles. In some embodiments,each image capture device 628 may be embodied as, or otherwise include,a flash lidar camera that has a light source, a sensor, and acontroller. Furthermore, it should be appreciated that in someembodiments, the detection system 624 may include other suitablecomponents in addition to, or as an alternative to, the aforementioneddevices, such as one or more phased array(s), microelectromechanicaldevice(s), scanner(s), and photodetector(s), for example.

The illustrative ultrasonic detection system 630 is embodied as, orotherwise includes, any device or collection of devices capable ofdetecting and/or imaging, based on ultrasonic sound waves, obstacles inan agricultural field that may be encountered by the agriculturalimplement 102 in use thereof. The illustrative detection system 630includes one or more signal generator(s) 632 and one or more receiver(s)634 communicatively coupled to the controller 604. Each signal generator632 may be embodied as, or otherwise include, any device or collectionof devices capable of generating and emitting ultrasonic sound wavestoward obstacles in an agricultural field. Each receiver 634 may beembodied as, or otherwise include, any device or collection of devicescapable of receiving sound waves provided thereto from the obstacles andconverting the sound waves into measurable electrical signals. It shouldbe appreciated that in some embodiments, the detection system 630 mayinclude other suitable components in addition to, or as an alternativeto, the aforementioned devices, such as one or more signal processor(s),for example.

In the illustrative embodiment, the tool positioning and adjustmentmechanisms 636 are embodied as, or otherwise include, devices capable ofpositioning and/or adjusting components of the agricultural implement102 (e.g., the shank assemblies 132) based on electrical input providedby the controller 604 in response to sensor input provided to thecontroller 604 (e.g., from the sensors 302, 304, 402 or the obstacledetection systems 320, 520). In some embodiments, the mechanisms 636 maybe embodied as, or otherwise include, one or more electrical actuatorsand/or solenoids, for example. Additionally, in some embodiments, themechanisms 636 may be embodied as, include, or otherwise be adapted foruse with, one or more linkages, racks, pinions, bars, brackets, rods,gears, pulleys, sprockets, wheels, bearings, shafts, chains, belts,axles, valves, tracks, differentials, or the like.

The dashboard 638 of the illustrative control system 602 includes adisplay 640 and a user interface 642. The display 640 is configured tooutput or display various indications, messages, and/or prompts to anoperator, which may be generated by the control system 602. The userinterface 642 is configured to provide various inputs to the controlsystem 602 based on various actions, which may include actions performedby an operator.

The illustrative location system 644 includes the GPS 530 and theantennas 532, 534. The location system 644 is capable of providing alocation of the tractor 400 and/or the implement 102 to the controller604 in use of the work machine 100. As described in greater detail belowwith reference to FIGS. 12 and 13 , with the aid of the location system644, the controller 604 is configured to map a location of one or moreobstacles present in an agricultural field to generate event data forthe field.

The receiver unit 646 may be included in the control system 602 in someembodiments as indicated above. Of course, it should be appreciated thatin other embodiments, the receiver unit 646 may be omitted from thecontrol system 602. In some embodiments, the receiver unit 646 mayinclude a light receiver 648 that is configured to receive light and/orenergy originating from, or otherwise provided by, the camera detectionsystem 610. Additionally, in some embodiments, the receiver unit 646 mayinclude a radio wave receiver 650 that is configured to receive radarsignals originating from, or otherwise provided by, the radar detectionsystem 616. Furthermore, in some embodiments, the receiver unit 646 mayinclude an ultrasonic sound wave receiver 652 that is configured toreceive ultrasonic sound waves originating from, or otherwise providedby, the ultrasonic detection system 630. Finally, in some embodiments,the receiver unit 646 may include a laser receiver 654 that isconfigured to receive ultraviolet, visible, or near infrared lightoriginating from, or otherwise provided by, the lidar detection system624.

Referring now to FIG. 7 , in the illustrative embodiment, the controller604 establishes an environment 700 during operation. The illustrativeenvironment 700 includes a tool performance evaluation module 702, atool ground engagement detection module 704, a tool soil compactiondetection module 706, a tool movement profile detection module 708, anobstacle detection and mapping module 710, and an obstacle detection andmapping module 712. Each of the modules, logic, and other components ofthe environment 700 may be embodied as hardware, firmware, software, ora combination thereof. As such, in some embodiments, one or more modulesof the environment 700 may be embodied as circuitry or a collection ofelectrical devices. In such embodiments, one or more of the toolperformance evaluation module 702, the tool ground engagement detectionmodule 704, the tool soil compaction detection module 706, the toolmovement profile detection module 708, the obstacle detection andmapping module 710, and the obstacle detection and mapping module 712may form a portion of the processor(s) 608 and/or other components ofthe controller 604. Additionally, in some embodiments, one or more ofthe illustrative modules may form a portion of another module and/or oneor more of the illustrative modules may be independent of one another.Further, in some embodiments, one or more of the modules of theenvironment 700 may be embodied as virtualized hardware components oremulated architecture, which may be established and maintained by theprocessor(s) 608 or other components of the controller 604.

The tool performance evaluation module 702, which may be embodied ashardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to analyze movement of the ground engagement tools 130relative to one another and/or to analyze movement of a particularground engagement tool 130 with respect to its performance history basedon the sensor input provided by the sensor(s) 302. To do so, in theillustrative embodiment, the tool performance evaluation module 702 mayperform the method described below with reference to FIG. 8 .

The tool ground engagement detection module 704, which may be embodiedas hardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to determine whether a particular ground engagement tool 130is in contact with the ground based on the sensor input provided by thesensor 302. To do so, in the illustrative embodiment, the tool groundengagement detection module 704 may perform the method described belowwith reference to FIG. 9 .

The tool soil compaction detection module 706, which may be embodied ashardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to determine whether one or more ground engagement tools 130are positioned in one or more soil compaction layers based on, amongother things, sensor input provided by the sensors 302, 402, and in someembodiments, based on input provided by the sensors 304. To do so, inthe illustrative embodiment, the tool soil compaction detection module706 may perform the method described below with reference to FIG. 10 .

The tool movement profile detection module 708, which may be embodied ashardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to determine whether movement of the ground engagement tools130 is consistent with and/or meets reference signals based on, amongother things, sensor input provided by the sensors 302. To do so, in theillustrative embodiment, the tool movement profile detection module 708may perform the method described below with reference to FIG. 11 .

The obstacle detection and mapping module 710, which may be embodied ashardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to selectively map, based on sensor input from the sensors302 and detection input from one of the obstacle detection systems 320,520, the location(s) of one or more obstacles present in an agriculturalfield. To do so, in the illustrative embodiment, the obstacle detectionand mapping module 710 may perform the method described below withreference to FIG. 12 .

The obstacle detection and mapping module 712, which may be embodied ashardware, firmware, software, virtualized hardware, emulatedarchitecture, and/or a combination thereof as discussed above, isconfigured to selectively map, based on sensor input from the sensors302, detection input from one of the obstacle detection systems 320,520, and event history data associated with a particular field, thelocation(s) of one or more obstacles present in an agricultural field.To do so, in the illustrative embodiment, the obstacle detection andmapping module 712 may perform the method described below with referenceto FIG. 13 .

Referring now to FIG. 8 , an illustrative method 800 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., thetool performance evaluation module 702 of the controller 604). Themethod 800 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 8 .It should be appreciated, however, that the method 800 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 800 begins with block 802. In block 802, thecontroller 604 engages, or directs engagement of, the ground engagementtools 130. To do so, the controller 604 may move, or direct movement of,each of the shank assemblies 132 to the ripping position 152. From block802, the method 800 subsequently proceeds to block 804.

In block 804 of the illustrative method 800, the controller 604 receivesthe sensor input provided by the movement sensors 302. From block 804,the method 800 subsequently proceeds to block 806.

In block 806 of the illustrative method 800, the controller 604determines, based on the sensor input provided in block 804, whethermovement of each of the ground engagement tools 130 is detected by thesensors 302. Put another way, in block 806, based on the sensor inputprovided in block 804, the controller 604 determines whether movement ofall the ground engagement tools 130 is detected by the sensors 302. Ifthe controller 604 determines in block 806 that movement of each of thetools 130 is detected by the sensors 302, the method 800 subsequentlyproceeds to block 808 or block 814. Of course, it should be appreciatedthat in response to a determination by the controller 604 in block 806that movement of each of the tools 130 is detected by the sensors 302,blocks 808 and 814 may be performed substantially contemporaneouslyand/or in parallel with one another.

In block 808 of the illustrative method 800, the controller 604analyzes, based on the sensor input provided by the sensors 302,movements of the ground engagement tools 130 relative to one another toevaluate performance uniformity of the work machine 100 across each row432. Therefore, in block 808, the controller 604 may analyze relativemovements of the tools 130 arranged in each row 432 to evaluate thehealth and/or performance of those tools 130. In any case, from block808, the method 800 subsequently proceeds to block 810.

In block 810 of the illustrative method 800, the controller 604determines whether movements of the ground engagement tools 130 relativeto one another fall within one or more reference tolerances. It shouldbe appreciated that to perform block 810, the controller 604 may comparethe relative movements of the tools 130 analyzed in block 808 to the oneor more reference tolerances. If the controller 604 determines in block810 that the movements of the tools 130 relative to one another fallwithin the one or more reference tolerances, the method 800 subsequentlyproceeds to block 812.

In block 812 of the illustrative method 800, the controller 604 notifiesan operator (e.g., via the dashboard 638) that no adjustments to theagricultural implement 102 (i.e., to the ground engagement tools 130)need to be performed. Following completion of block 812, the method 800subsequently returns to block 808.

Returning to block 806, if the controller 604 determines in block 806that movement of each of the tools 130 is detected by the sensors 302,in some embodiments, the illustrative method 800 proceeds to block 814.In block 814, the controller 604 obtains performance history data foreach ground engagement tool 130. It should be appreciated that in someembodiments, performance history data for each tool 130 may be stored ina database or repository that may be accessed by the controller 604. Forexample, performance history data for each tool 130 may be stored in adatabase accessible at www.johndeere.com, or another suitable location.In any case, the performance history data for each tool 130 isindicative of characteristics of movement (e.g., sensor input from thecorresponding sensor 302) for the corresponding tool 130 in one or moreprevious operational states. From block 814, the method 800 subsequentlyproceeds to block 816.

In block 816 of the illustrative method 800, the controller 604 analyzesmovement of each of the ground engagement tools 130 in a currentoperational state based on the sensor input associated with thecorresponding sensor 302 and the performance history data associatedwith the corresponding tool 130. It should be appreciated that to do so,the controller 604 may compare the sensor input provided by the sensor302 for the corresponding tool 130 in the current operational state tothe performance history data associated with the corresponding tool 130.From block 816, the method 800 subsequently proceeds to block 818.

In block 818 of the illustrative method 800, the controller 604determines whether, based on the sensor input provided by thecorresponding sensor 302 and the performance history data associatedwith the particular ground engagement tool 130, movement of the tool 130in the current operational state is outside of, or inconsistent with,movement of the tool 130 in one or more previous operational states. Ifthe controller 604 determines in block 818 that movement of theparticular tool 130 in the current operational state is outside, orinconsistent with, movement of the tool 130 in one of more previousoperational states, the method 800 subsequently proceeds to block 820.

In block 820 of the illustrative method 800, the controller 604determines whether, based on the sensor input provided by multiplesensors 302 and the performance history data associated with multipleground engagement tools 130, movement of multiple tools 130 in theircorresponding current operational states are outside of, or inconsistentwith, movements of those tools 130 in one or more previous operationalstates. If the controller 604 determines in block 820 that movements ofmultiple tools 130 in their corresponding current operational states areoutside of, or inconsistent with, movements of those tools 130 in one ormore previous operational states, the method 800 subsequently proceedsto block 822.

In block 822 of the illustrative method 800, the controller 604determines whether, based on the sensor input provided by each of thesensors 302 and the performance history data associated with each of theground engagement tools 130, movement of each of the tools 130 in itscorresponding current operational state is outside of, or inconsistentwith, movement of each of the tools 130 in one or more previousoperational states. If the controller 604 determines in block 822 thatmovement of each of the tools 130 in its corresponding currentoperational state is outside of, or inconsistent with, movement of eachof the tools 130 in one or more previous operational states, the method800 subsequently proceeds to block 824.

In block 824 of the illustrative method 800, the controller 604determines whether one or more settings of each of the ground engagementtools 130 has changed (e.g., due to operator action). If the controller604 determines in block 824 that one or more settings of all the tools130 have changed, the method 800 subsequently proceeds to block 826.

In block 826 of the illustrative method 800, the controller 604 notifiesan operator (e.g., via the dashboard 638) that no adjustments to theagricultural implement 102 (i.e., to the ground engagement tools 130)need to be performed. Following completion of block 826, the method 800subsequently returns to block 818.

Returning to block 824 of the illustrative method 800, if the controller604 determines in block 824 that one or more settings of all the tools130 have not changed, the method 800 proceeds to block 828. In block828, the controller 604 determines whether the external environment haschanged. The external environment may correspond to, or otherwise beassociated with, characteristics of the agricultural field and/or theambient environment. Additionally, the external environment may becharacterized by, or otherwise take into account, parameters such astemperature, humidity, precipitation, visibility, pressure, wind, knownlocations of obstacles in the field, known trends or patterns associatedwith particular obstacles, and/or any other parameters of interest. Itshould be appreciated that settings and/or parameters characterizing theexternal environment may be changed by an operator via the dashboard638, at least in some embodiments. In any case, if the controller 604determines in block 828 that the external environment has changed, themethod 800 subsequently proceeds to block 826. However, if thecontroller 604 determines in block 828 that the external environment hasnot changed, the method 800 subsequently proceeds to block 830.

In block 830 of the illustrative method 800, the controller 604 notifiesan operator of an event (e.g., via the dashboard 638) determinedfollowing the performance of block 828. The event notification mayindicate that (i) the movement of all tools 130 are outside of, and/orinconsistent with, the performance history data associated therewith(i.e., as determined in block 822), (ii) the settings of the tools 130have not been changed (i.e., as determined in block 824), and (iii) theexternal environment has not changed (i.e., as determined in block 828).In addition, in block 830, the controller 604 generates a log or flagassociated with the event, which may be displayed on the dashboard 638and/or stored in a database accessible by the controller 604 (e.g., adatabase accessible at myjohndeere.com). Following completion of block830, the method 800 subsequently returns to block 818.

Returning to block 810 of the illustrative method 800, if the controller604 determines in block 810 that movements of the ground engagementtools 130 relative to one another are not within, or fall outside of,the reference tolerances, the method 800 subsequently proceeds to block832. In block 832, the controller 604 notifies an operator of an event(e.g., via the dashboard 638) determined following the performance ofblock 810. The event notification may indicate that relative movementsof the ground engagement tools 130 are not within the referencetolerances (i.e., as determined in block 810). In addition, in block832, the controller 604 generates a log or flag associated with theevent, which may be displayed on the dashboard 638 and/or stored in adatabase accessible by the controller 604 (e.g., a database accessibleat myjohndeere.com). Following completion of block 832, at least in someembodiments, the method 800 subsequently proceeds to block 834.

In block 834 of the illustrative method 800, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 8 , theillustrative method 800 includes blocks 832 and 834. It should beappreciated that in at least some embodiments, performance of theillustrative method 800 by the controller 604 may not require theperformance of blocks 832 and 834. Rather, in such embodiments, block832 or block 834 may be performed by the controller 604. In any case, inthe illustrative embodiment, following completion of block 834, themethod 800 subsequently returns to block 808.

Returning to block 806 of the illustrative method 800, if the controller604 determines in block 806 that movement of each of the groundengagement tools 130 is not detected based on the sensor input providedby the sensors 302, the method 800 subsequently proceeds to block 836.In block 836, the controller 604 notifies an operator of an event (e.g.,via the dashboard 638) determined following the performance of block806. The event notification may indicate that movement of each of thetools 130 is not detected (i.e., as determined in block 806). Inaddition, in block 836, the controller 604 generates a log or flagassociated with the event, which may be displayed on the dashboard 638and/or stored in a database accessible by the controller 604 (e.g., adatabase accessible at myjohndeere.com). Following completion of block836, at least in some embodiments, the method 800 subsequently proceedsto block 838.

In block 838 of the illustrative method 800, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 8 , theillustrative method 800 includes blocks 836 and 838. It should beappreciated that in at least some embodiments, performance of theillustrative method 800 by the controller 604 may not require theperformance of blocks 836 and 838. Rather, in such embodiments, block836 or block 838 may be performed by the controller 604. In any case, inthe illustrative embodiment, following completion of block 838, themethod 800 subsequently returns to block 804.

Referring now to FIG. 9 , an illustrative method 900 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., thetool ground engagement detection module 704 of the controller 604). Themethod 900 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 9 .It should be appreciated, however, that the method 900 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 900 begins with block 902. In block 902, thecontroller 604 engages, or directs engagement of, the ground engagementtools 130. To do so, the controller 604 may move, or direct movement of,each of the shank assemblies 132 to the ripping position 152. From block902, the method 900 subsequently proceeds to block 904.

In block 904 of the illustrative method 900, the controller 604 receivesthe sensor input provided by the movement sensors 302. From block 904,the method 900 subsequently proceeds to block 906.

In block 906 of the illustrative method 900, the controller 604determines, based on the sensor input provided in block 904, whethermovement of a particular ground engagement tool 130 is detected by thecorresponding sensor 302. If the controller 604 determines in block 906that movement of the particular ground engagement tool 130 is detectedby the corresponding sensor 302, the method 900 subsequently proceeds toblock 908.

In block 908 of the illustrative method 900, the controller 604 notifiesan operator (e.g., via the dashboard 638) that the particular tool 130is in contact with the ground. From block 908, the method 900subsequently returns to block 904.

Returning to block 906 of the illustrative method 900, if the controller604 determines in block 906 that movement of the particular tool 130 isnot detected, the method 900 subsequently proceeds to block 910. Inblock 910, the controller 604 notifies an operator of an event (e.g.,via the dashboard 638) determined following the performance of block906. The event notification may indicate that movement of the particulartool 130 is not detected (i.e., as determined in block 906). Inaddition, in block 910, the controller 604 generates a log or flagassociated with the event, which may be displayed on the dashboard 638and/or stored in a database accessible by the controller 604 (e.g., adatabase accessible at myjohndeere.com). Following completion of block910, in at least some embodiments, the method 900 subsequently proceedsto block 912.

In block 912 of the illustrative method 900, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 9 , theillustrative method 900 includes blocks 910 and 912. It should beappreciated that in at least some embodiments, performance of theillustrative method 900 by the controller 604 may not require theperformance of blocks 910 and 912. Rather, in such embodiments, block910 or block 912 may be performed by the controller 604. In any case, inthe illustrative embodiment, following completion of block 912, themethod 900 subsequently returns to block 904.

Referring now to FIG. 10 , an illustrative method 1000 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., thetool soil compaction detection module 706 of the controller 604). Themethod 1000 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 10 .It should be appreciated, however, that the method 1000 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 1000 begins with block 1002. In block 1002, thecontroller 604 receives one or more maximum depth settings input by anoperator (e.g., via the dashboard 638) for the ground engagement tools130. It should be appreciated that at least in some embodiments, themaximum depth settings may correspond to a maximum penetration depth ofthe tools 130 into the ground in use of the work machine 100. From block1002, the method 1000 subsequently proceeds to block 1004.

In block 1004 of the illustrative method 1000, the controller 604controls (e.g., sets and/or directs movement of) the tools 130 to themaximum depth settings input in block 1002. To do so, at least in someembodiments, the controller 604 may provide input to the toolpositioning and adjustment mechanisms 636 to direct movement of thetools 130. It should be appreciated that as a result of the performanceof block 1004, each of the shank assemblies 132 is controlled to theripping position 152. From block 1004, the method 1000 subsequentlyproceeds to block 1006.

In block 1006 of the illustrative method 1000, the controller 604receives the sensor input provided by the movement sensors 302associated with the engaged (i.e., set in the ripping position 152)ground engagement tools 130. From block 1006, the method 1000subsequently proceeds to block 1008.

In block 1008 of the illustrative method 1000, the controller 604receives the tow load sensor input provided by the one or more loadsensor(s) 402 in use of the work machine 100. From block 1008, themethod 1000 subsequently proceeds to block 1010.

In block 1010 of the illustrative method 1000, the controller 604receives the depth sensor input provided by the depth sensors 304associated with the engaged ground engagement tools 130. Of course, asindicated above, in embodiments in which the sensors 304 are omittedfrom the control system 602, performance of the illustrative method 1000by the controller 602 may not require the performance of block 1010, andblock 1010 may therefore be omitted from the method 1000. In any case,from block 1010, the illustrative method 1000 subsequently proceeds toblock 1012.

In block 1012 of the illustrative method 1000, the controller 604receives one or more external environment settings input by an operator(e.g., via the dashboard 638). The one or more external environmentsettings may correspond to, or otherwise be associated with,characteristics of the agricultural field and/or the ambientenvironment. Additionally, the one or more external environment settingsmay be characterized by, or otherwise take into account, parameters suchas temperature, humidity, precipitation, visibility, pressure, wind,known locations of obstacles in the field, known trends or patternsassociated with particular obstacles, and/or any other parameters ofinterest. From block 1012, the method 1000 subsequently proceeds toblock 1014.

In block 1014 of the illustrative method 1000, the controller 604calculates at least one ratio of the tow load associated with theagricultural implement 102 to the position of at least one groundengagement tool 130 relative to the ground (e.g., a penetration depth ofthe at least one tool 130 into the ground) based on the sensor inputprovided in blocks 1006, 1008, 1010 and on the external environmentsettings input in block 1012. Of course, it should be appreciated thatin block 1014, the controller 604 may calculate a ratio corresponding toeach ground engagement tool 130. Additionally, in embodiments in whichthe sensors 304 are omitted from the control system 602, the calculationperformed by the controller 604 in block 1014 may not be based on sensorinput provided by the sensors 304. In any case, from block 1014, themethod 1000 subsequently proceeds to block 1016.

In block 1016 of the illustrative method 1000, the controller 604determines whether the at least one ratio calculated in block 1014increases as the at least one ground engagement tool 130 extends farther(i.e., penetrates deeper) into the ground. If the controller 604determines in block 1016 that the ratio increases as the at least onetool 130 extends farther into the ground, the method 1000 subsequentlyproceeds to block 1018.

In block 1018 of the illustrative method 1000, the controller 604notifies an operator (e.g., via the dashboard 638) that one or moreground engagement tools 130 are located in one or more compactionlayer(s) of the ground having increased soil density (i.e., relative toother non-compaction layer(s) of the ground). From block 1018, themethod 1000 subsequently proceeds to block 1020.

In block 1020 of the illustrative method 1000, the controller 604prompts an operator (e.g., via a prompt or notification displayed on thedashboard 638) to adjust the maximum depth settings of the groundengagement tools 130 to a desired depth in view of the notificationperformed in block 1018. Following completion of block 1020, at least insome embodiments, the method 1000 subsequently proceeds to block 1028.

In block 1028 of the illustrative method 1000, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 10 , theillustrative method 1000 includes blocks 1020 and 1028. It should beappreciated that in at least some embodiments, performance of theillustrative method 1000 by the controller 604 may not require theperformance of blocks 1020 and 1028. Rather, in such embodiments, block1020 or block 1028 may be performed by the controller 604. In any case,in the illustrative embodiment, following completion of block 1028, themethod 1000 subsequently returns to block 1002.

Returning to block 1016 of the illustrative method 1000, if thecontroller 604 determines in block 1016 that the at least one ratiocalculated in block 1014 does not increase as the least one groundengagement tool 130 extends farther into the ground, the method 1000subsequently proceeds to block 1022. In block 1022, the controller 604determines whether the at least one ratio calculated in block 1014decreases as the at least one tool 130 extends farther into the ground.If the controller 604 determines in block 1022 that the at least oneratio calculated in block 1014 decreases as the at least one tool 130extends farther into the ground, the method 1000 subsequently proceedsto block 1024.

In block 1024 of the illustrative method 1000, the controller 604notifies an operator (e.g., via the dashboard 638) that one or moreground engagement tools 130 are located beneath one or more compactionlayers of the ground. From block 1024, the method 1000 subsequentlyproceeds to block 1026.

In block 1026 of the illustrative method 1000, the controller 604prompts an operator (e.g., via a prompt or notification displayed on thedashboard 638) to enter new settings for the maximum depth of the groundengagement tools 130. Following completion of block 1026, in at leastsome embodiments, the method 1000 subsequently proceeds to block 1030.

In block 1030 of the illustrative method 1000, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 10 , theillustrative method 1000 includes blocks 1026 and 1030. It should beappreciated that in at least some embodiments, performance of theillustrative method 1000 by the controller 604 may not require theperformance of blocks 1026 and 1030. Rather, in such embodiments, block1026 or block 1030 may be performed by the controller 604. In any case,in the illustrative embodiment, following completion of block 1030, themethod 1000 subsequently returns to block 1002.

Returning to block 1022 of the illustrative method 1000, if thecontroller 604 determines in block 1022 that the at least one ratiocalculated in block 1014 does not decrease as the at least one groundengagement tool 130 extends farther into the ground, the method 1000subsequently returns to block 1016.

Referring now to FIG. 11 , an illustrative method 1100 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., thetool movement profile detection module 708 of the controller 604). Themethod 1100 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 11 .It should be appreciated, however, that the method 1100 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 1100 begins with block 1102. In block 1102, thecontroller 604 engages, or directs engagement of, the ground engagementtools 130. To do so, the controller 604 may move, or direct movement of,each of the shank assemblies 132 to the ripping position 152. From block1102, the method 1100 subsequently proceeds to block 1104.

In block 1104 of the illustrative method 1100, the controller 604receives the sensor input provided by the movement sensors 302associated with the engaged (i.e., set in the ripping position 152)ground engagement tools 130. From block 1104, the method 1100subsequently proceeds to block 1106.

In block 1106 of the illustrative method 1100, the controller 604receives one or more external environment settings input by an operator(e.g., via the dashboard 638). The one or more external environmentsettings may correspond to, or otherwise be associated with,characteristics of the agricultural field and/or the ambientenvironment. Additionally, the one or more external environment settingsmay be characterized by, or otherwise take into account, parameters suchas temperature, humidity, precipitation, visibility, pressure, wind,known locations of obstacles in the field, known trends or patternsassociated with particular obstacles, and/or any other parameters ofinterest. From block 1106, the method 1100 subsequently proceeds toblock 1108.

In block 1108 of the illustrative method 1100, the controller 604compares the sensor input provided by the sensors 302 associated withthe ground engagement tools 130 to reference signals associated with theexternal environment settings input by the operator in block 1106. Fromblock 1108, the method 1100 subsequently proceeds to block 1110.

In block 1110 of the illustrative method 1100, the controller 604determines whether the sensor input provided by the sensors 302 isconsistent with, and/or meets, the reference signals associated with theexternal environment settings input in block 1106. It should beappreciated that, at least in some embodiments, the controller 604 mayperform block 1110 to evaluate performance of the agricultural implement102 in certain operational states, which may correspond to, or otherwisebe associated with, the external environment settings input in block1106. In any case, if the controller 604 determines in block 1110 thatthe sensor input provided by the sensors 302 is consistent with, and/ormeets, the reference signals associated with the external environmentsettings, the method 1100 subsequently proceeds to block 1112.

In block 1112 of the illustrative method 1100, the controller 604notifies an operator (e.g., via the dashboard 638) that no adjustmentsto the agricultural implement 102 (i.e., to the ground engagement tools130) need to be performed. Following completion of block 1112, themethod 1100 subsequently returns to block 1108.

Returning to block 1110 of the illustrative method 1100, if thecontroller 604 determines in block 1110 that the sensor input providedby the sensors 302 is not consistent with, and/or meets, the referencesignals associated with the external environment settings, the method1100 subsequently proceeds to block 1114. In block 114, the controller604 notifies an operator of an event (e.g., via the dashboard 638)determined following the performance of block 1100. The eventnotification may indicate that the sensor input associated with one ormore ground engagement tools 132 is inconsistent with, does not meet, orfalls outside of, the reference signals associated with the externalenvironment settings input by the operator in block 1106 (i.e., asdetermined in block 1110). In addition, in block 1114, the controller604 generates a log or flag associated with the event, which may bedisplayed on the dashboard 638 and/or stored in a database accessible bythe controller 604 (e.g., a database accessible at myjohndeere.com).Following completion of block 1114, in at least some embodiments, themethod 1100 subsequently proceeds to block 1116.

In block 1116 of the illustrative method 1100, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 11 , theillustrative method 1100 includes blocks 1114 and 1116. It should beappreciated that in at least some embodiments, performance of theillustrative method 1100 by the controller 604 may not require theperformance of blocks 1114 and 1116. Rather, in such embodiments, block1114 or block 1116 may be performed by the controller 604. In any case,in the illustrative embodiment, following completion of block 1116, themethod 1100 subsequently returns to block 1108.

Referring now to FIG. 12 , an illustrative method 1200 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., theobstacle detection and mapping module 710 of the controller 604). Themethod 1200 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 12 .It should be appreciated, however, that the method 1200 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 1200 begins with block 1202. In block 1202, thecontroller 604 engages, or directs engagement of, the ground engagementtools 130. To do so, the controller 604 may move, or direct movement of,each of the shank assemblies 132 to the ripping position 152. From block1202, the method 1200 subsequently proceeds to block 1204.

In block 1204 of the illustrative method 1200, the controller 604receives the sensor input provided by the movement sensors 302associated with the engaged (i.e., set in the ripping position 152)ground engagement tools 130. From block 1204, the method 1200subsequently proceeds to block 1206.

In block 1206 of the illustrative method 1200, the controller 604receives the detection input associated with one or more of the obstacledetection systems 320, 520. Of course, it should be appreciated that inblock 1206, the controller 604 may receive detection input provided byany one or more of the camera detection system 610, the radar detectionsystem 616, the LIDAR detection system 624, and the ultrasonic detectionsystem 630. Regardless, from block 1206, the method 1200 subsequentlyproceeds to block 1208.

In block 1208 of the illustrative method 1200, the controller 604determines whether the input provided by the sensors 302 in block 1204and/or the detection input provided by one or more of the detectionsystems 320, 520 in block 1206 is indicative of one or more obstaclespresent in the field. If the controller 604 determines in block 1208that the input provided in block 1204 and/or block 1206 is indicative ofone or more present obstacles such that one or more obstacles areidentified in the field, the method 1200 subsequently proceeds to block1210.

In block 1210 of the illustrative method 1200, the controller 604determines, based on the sensor input provided in block 1204, whethermovement of each of the ground engagement tools 130 is detected by thesensors 302. Put another way, in block 1210, based on the sensor inputprovided in block 1204, the controller 604 determines whether movementof all the ground engagement tools 130 is detected by the sensors 302.If the controller 604 determines in block 1210 that movement of each ofthe tools 130 is detected by the sensors 302, the method 1200subsequently proceeds to block 1212.

In block 1212 of the illustrative method 1200, the controller 604compares the input indicative of the one or more present obstacles(i.e., the input provided by the sensors 302 and/or the obstacledetection systems 320, 520) to a reference event threshold. It should beappreciated that the reference event threshold may correspond to, orotherwise be associated with, a value, a range, or a tolerance.Furthermore, it should be appreciated that input greater than, orotherwise outside of, the reference event threshold may correspond to anoperational event and/or fault. From block 1212, the method 1200subsequently proceeds to block 1214.

In block 1214 of the illustrative method 1200, the controller 604determines whether the input indicative of the one or more presentobstacles is greater than the reference event threshold. If thecontroller 604 determines in block 1214 that the input is greater thanthe reference event threshold, the method 1200 subsequently proceeds toblock 1216.

In block 1216 of the illustrative method 1200, the controller 604 mapsthe location of the one or more present obstacles with the aid of thelocation system 644. It should be appreciated that the location(s)mapped by the controller 604 in block 1216 may be used to generate eventdata for the field in which the work machine 100 is employed.Furthermore, it should be appreciated that event data generated for aparticular field may be displayed on the dashboard 638 and/or stored ina database accessible by the controller 604 (e.g., a database accessibleat myjohndeere.com). Following completion of block 1216, the method 1200subsequently proceeds to block 1218.

In block 1218 of the illustrative method 1200, the controller 604notifies an operator of an event (e.g., via the dashboard 638)determined following the performance of block 1216. The eventnotification may indicate that the location of one or more presentobstacles have been determined and mapped. In addition, in block 1216,the controller 604 generates a log or flag associated with the event,which may be displayed on the dashboard 638 and/or stored in a databaseaccessible by the controller 604 (e.g., a database accessible atmyjohndeere.com). Following completion of block 1218, in at least someembodiments, the method 1200 subsequently proceeds to block 1220.

In block 1220 of the illustrative method 1200, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 12 , theillustrative method 1200 includes blocks 1218 and 1220. It should beappreciated that in at least some embodiments, performance of theillustrative method 1200 by the controller 604 may not require theperformance of blocks 1218 and 1220. Rather, in such embodiments, block1218 or block 1220 may be performed by the controller 604. In any case,in the illustrative embodiment, following completion of block 1220, themethod 1200 subsequently returns to block 1204.

Returning to block 1214 of the illustrative method 1200, if thecontroller 604 determines in block 1214 that the input indicative of theone or more present obstacles is not greater than the reference eventthreshold, the method 1200 subsequently returns to block 1204.

Returning to block 1210 of the illustrative method 1200, if thecontroller 604 determines in block 1210 that movement of each of thetools 130 is not detected by the sensors 302 such that a lack ofmovement of at least one of the tools 130 is determined by thecontroller 604 in block 1210, the method 1200 subsequently proceeds toblock 1216.

Returning to block 1208 of the illustrative method 1200, if thecontroller 604 determines in block 1208 that the input provided in block1204 and/or block 1206 is not indicative of one or more obstaclespresent in the field, the method 1200 subsequently returns to block1204.

Referring now to FIG. 13 , an illustrative method 1300 of operating thework machine 100 may be embodied as, or otherwise include, a set ofinstructions that are executable by the control system 602 (i.e., theobstacle detection and mapping module 712 of the controller 604). Themethod 1300 corresponds to, or is otherwise associated with, performanceof the blocks described below in the illustrative sequence of FIG. 13 .It should be appreciated, however, that the method 1300 may be performedin one or more sequences different from the illustrative sequence.

The illustrative method 1300 begins with block 1302. In block 1302, thecontroller 604 engages, or directs engagement of, the ground engagementtools 130. To do so, the controller 604 may move, or direct movement of,each of the shank assemblies 132 to the ripping position 152. From block1302, the method 1300 subsequently proceeds to block 1304.

In block 1304 of the illustrative method 1300, the controller 604receives the sensor input provided by the movement sensors 302associated with the engaged (i.e., set in the ripping position 152)ground engagement tools 130. From block 1304, the method 1300subsequently proceeds to block 1306.

In block 1306 of the illustrative method 1300, the controller 604receives the detection input associated with one or more of the obstacledetection systems 320, 520. Of course, it should be appreciated that inblock 1306, the controller 604 may receive detection input provided byany one or more of the camera detection system 610, the radar detectionsystem 616, the lidar detection system 624, and the ultrasonic detectionsystem 630. Regardless, from block 1306, the method 1300 subsequentlyproceeds to block 1308.

In block 1308 of the illustrative method 1300, the controller 604determines whether the input provided by the sensors 302 in block 1304and/or the detection input provided by one or more of the detectionsystems 320, 520 in block 1306 is indicative of one or more obstaclespresent in the field. If the controller 604 determines in block 1308that the input provided in block 1304 and/or block 1306 is indicative ofone or more present obstacles such that one or more obstacles areidentified in the field, the method 1300 subsequently proceeds to block1310.

In block 1310 of the illustrative method 1300, the controller 604notifies an operator of an event (e.g., via the dashboard 638)determined following the performance of block 1308. The eventnotification may indicate that one or more obstacles have beenidentified in the field (i.e., as determined in block 1308). Inaddition, in block 1310, the controller 604 generates a log or flagassociated with the event, which may be displayed on the dashboard 638and/or stored in a database accessible by the controller 604 (e.g., adatabase accessible at myjohndeere.com). From block 1310, the method1300 subsequently proceeds to block 1312.

In block 1312 of the illustrative method 1300, the controller 604obtains event history data for the particular field that is indicativeof one or more obstacles previously present in the field. It should beappreciated that in some embodiments, event history data for aparticular field may be stored in a database or repository that may beaccessed by the controller 604. For example, event history data for aparticular field may be stored in a database accessible atmyjohndeere.com, or another suitable location. In any case, from block1312, the method 1300 subsequently proceeds to block 1314.

In block 1314 of the illustrative method 1300, the controller 604determines whether the position(s) and/or location(s) of the one or morecurrent obstacles associated with the sensor input provided in block1304 and the detection input provided in block 1306 are proximate to theposition(s) and/or location(s) of one or more obstacles associated withthe event history data obtained in block 1312. In some embodiments, inblock 1314, the controller 604 may determine whether the position(s)and/or location(s) of the one or more current obstacles associated withthe sensor input provided in block 1304 and the detection input providedin block 1306 are parallel, or perpendicular, to the position(s) and/orlocation(s) of one or more obstacles associated with the event historydata obtained in block 1312. If the controller 604 determines in block1314 that the one or more current obstacle(s) are positioned proximateone or more obstacles associated with the event history data, the method1300 subsequently proceeds to block 1316.

In block 1316 of the illustrative method 1300, the controller 604establishes an obstacle and/or work machine trend for the particularfield based on the position of the one or more obstacles associated withthe sensor input provided in block 1304 and the detection input providedin block 1306, and based on the position of the one or more obstaclesassociated with the event history data obtained in block 1312. It shouldbe appreciated that the trend established by the controller 604 in block1316 may be stored in a database or repository that may accessed by thecontroller 604 during subsequent use of the work machine 100. From block1316, the method 1300 subsequently proceeds to block 1318.

In block 1318 of the illustrative method 1300, the controller 604determines whether the trend established in block 1316 is consistent(i.e., whether obstacles associated with that trend are repeatedlyidentified) upon additional passes when the work machine 100 ispositioned proximate to the locations associated with the establishedtrend. If the controller 604 determines in block 1318 that the trendestablished in block 1316 is consistent upon additional passes, themethod 1300 subsequently returns to block 1304.

If the controller 604 determines in block 1318 that the trendestablished in block 1316 is not consistent upon additional passes, themethod 1300 subsequently proceeds to block 1320. In block 1320, thecontroller 604 maps the location of the one or more current obstacleswith the aid of the location system 644. It should be appreciated thatthe location(s) mapped by the controller 604 in block 1320 may be usedto generate event data for the field in which the work machine 100 isemployed. Furthermore, it should be appreciated that event datagenerated for a particular field may be displayed on the dashboard 638and/or stored in a database accessible by the controller 604 (e.g., adatabase accessible at myjohndeere.com). In any case, from block 1320,the method 1300 subsequently proceeds to block 1322.

In block 1322 of the illustrative method 1300, the controller 604notifies an operator of an event (e.g., via the dashboard 638)determined following the performance of block 1320. The eventnotification may indicate that one or more obstacles and/or obstacletrends have been mapped (i.e., as performed in block 1320). In addition,in block 1322, the controller 604 generates a log or flag associatedwith the event, which may be displayed on the dashboard 638 and/orstored in a database accessible by the controller 604 (e.g., a databaseaccessible at myjohndeere.com). From block 1322, in at least someembodiments, the method 1300 subsequently proceeds to block 1324.

In block 1324 of the illustrative method 1300, the controller 604 mayperform an automated adjustment to the agricultural implement 102 (i.e.,to the ground engagement tools 130). As depicted in FIG. 13 , theillustrative method 1300 includes blocks 1322 and 1324. It should beappreciated that in at least some embodiments, performance of theillustrative method 1300 by the controller 604 may not require theperformance of blocks 1322 and 1324. Rather, in such embodiments, block1322 or block 1324 may be performed by the controller 604. In any case,in the illustrative embodiment, following completion of block 1324, themethod 1300 subsequently returns to block 1304.

Returning to block 1314 of the illustrative method 1300, if thecontroller 604 determines in block 1314 that the one or more currentobstacle(s) are not positioned proximate one or more obstaclesassociated with the event history data, the method 1300 subsequentlyproceeds to block 1320.

While the disclosure has been illustrated and described in detail in theforegoing drawings and description, the same is to be considered asexemplary and not restrictive in character, it being understood thatonly illustrative embodiments thereof have been shown and described andthat all changes and modifications that come within the spirit of thedisclosure are desired to be protected.

The invention claimed is:
 1. A work machine comprising: a framestructure; a work implement coupled to the frame structure that includesa plurality of ground engagement tools each configured for movement inresponse to interaction with an underlying surface in use of the workmachine; and a control system coupled to the frame structure thatincludes a plurality of movement sensors each mounted to a correspondingone of the plurality of ground engagement tools and each configured toprovide sensor input indicative of a characteristic of movement of thecorresponding ground engagement tool in use of the work machine, acontroller communicatively coupled to each of the plurality of movementsensors, and at least one load sensor communicatively coupled to thecontroller and configured to provide load sensor input indicative of atow load associated with the work implement in use of the work machine,wherein: the controller includes memory having instructions storedtherein that are executable by a processor to cause the processor toreceive the sensor input from the plurality of movement sensors and todetermine that the plurality of ground engagement tools is in contactwith the ground in response to receipt of the sensor input provided bythe plurality of movement sensors, and the instructions stored in thememory are executable by the processor to cause the processor to receivethe sensor input from the plurality of movement sensors and the loadsensor input from the at least one load sensor, to receive one or moreexternal environment settings input by a user, and to calculate at leastone ratio of the tow load associated with the work implement to theposition of at least one ground engagement tool relative to theunderlying surface based at least partially on the sensor input from theplurality of movement sensors, on the load sensor input from the atleast one load sensor, and on the one or more external environmentsettings.
 2. The work machine of claim 1, wherein the instructionsstored in the memory are executable by the processor to cause theprocessor to obtain performance history data for the plurality of groundengagement tools indicative of characteristics of movement of theplurality of ground engagement tools in one or more previous operationalstates and to analyze movement of the plurality of ground engagementtools in current operational states based on the sensor input and theperformance history data.
 3. The work machine of claim 2, wherein theinstructions stored in the memory are executable by the processor tocause the processor to determine whether, based on the sensor input andthe performance history data, movement of the plurality of groundengagement tools in the current operational states is outside of, orinconsistent with, movement of the plurality of ground engagement toolsin the one or more previous operational states.
 4. The work machine ofclaim 1, wherein the instructions stored in the memory are executable bythe processor to cause the processor to receive the sensor input fromthe plurality of movement sensors, to detect movement of each of theplurality of ground engagement tools based on the sensor input, and toanalyze movements of the plurality of ground engagement tools relativeto one another in response to detection of movement of each of theplurality of ground engagement tools to evaluate performance uniformityof the work implement.
 5. The work machine of claim 4, wherein theinstructions stored in the memory are executable by the processor tocause the processor to determine whether movements of the plurality ofground engagement tools relative to one another fall within one or morereference tolerances and to prompt a user to perform one or moreadjustments to the work implement via the control system in response toa determination that the movements of the plurality of ground engagementtools relative to one another fall outside the one or more referencetolerances.
 6. The work machine of claim 1, wherein the instructionsstored in the memory are executable by the processor to cause theprocessor to compare the sensor input provided by the plurality ofmovement sensors to one or more reference signals associated with theone or more external environment settings, and to determine whether thesensor input is consistent with, or meets, the one or more referencesignals to evaluate performance of the work implement in certainoperational states.
 7. The work machine of claim 1, wherein theinstructions stored in the memory are executable by the processor tocause the processor to determine whether the calculated at least oneratio increases as the at least one ground engagement tool extendsfarther into the ground and to notify a user that one or more of theplurality of ground engagement tools are located in one or morecompaction layers of the ground in response to a determination that theat least one ratio increases as the at least one ground engagement toolextends farther into the ground.
 8. The work machine of claim 1, whereinthe instructions stored in the memory are executable by the processor tocause the processor to determine whether the calculated at least oneratio decreases as the at least one ground engagement tool extendsfarther into the ground and to notify a user that one or more of theplurality of ground engagement tools are located beneath one or morecompaction layers of the ground in response to a determination that theat least one ratio decreases as the at least one ground engagement toolextends farther into the ground.
 9. A control system mounted on a workmachine including a frame structure and a work implement coupled to theframe structure that has a plurality of ground engagement tools eachconfigured for movement in response to interaction with an underlyingsurface in use of the work machine, the control system comprising: aplurality of movement sensors each mounted on a corresponding one of theplurality of ground engagement tools, wherein each of the plurality ofmovement sensors is configured to provide sensor input indicative of acharacteristic of movement of a corresponding ground engagement tool inuse of the work machine; at least one load sensor configured to provideload sensor input indicative of a tow load associated with the workimplement in use of the work machine; and a controller communicativelycoupled to each of the plurality of movement sensors and the at leastone load sensor, wherein the controller includes memory havinginstructions stored therein that are executable by a processor to causethe processor to receive the sensor input from the plurality of movementsensors and to determine that the plurality of ground engagement toolsis in contact with the ground in response to receipt of sensor inputprovided by the plurality of sensors that is indicative ofcharacteristics of movement of the plurality of ground engagement toolsin use of the work machine, wherein the instructions stored in thememory are executable by the processor to cause the processor to receivethe sensor input from the plurality of movement sensors and the loadsensor input from the at least one load sensor, to receive one or moreexternal environment settings input by a user, and to calculate at leastone ratio of the tow load associated with the work implement to theposition of at least one ground engagement tool relative to theunderlying surface based at least partially on the sensor input from theplurality of movement sensors, on the load sensor input from the atleast one load sensor, and on the one or more external environmentsettings.
 10. The control system of claim 9, wherein the instructionsstored in the memory are executable by the processor to cause theprocessor to receive the sensor input from the plurality of movementsensors, to detect movement of each of the plurality of groundengagement tools based on the sensor input, and to analyze movements ofthe plurality of ground engagement tools relative to one another inresponse to detection of movement of each of the plurality of groundengagement tools to evaluate performance uniformity of the workimplement.
 11. The control system of claim 10, wherein the instructionsstored in the memory are executable by the processor to cause theprocessor to obtain performance history data for each of the pluralityof ground engagement tools that is indicative of characteristics ofmovement for the corresponding ground engagement tool in one or moreprevious operational states and to analyze movement of each of theplurality of ground engagement tools in a current operational statebased on the sensor input and the performance history data.
 12. Thecontrol system of claim 9, wherein the instructions stored in the memoryare executable by the processor to cause the processor to compare thesensor input provided by the plurality of movement sensors to one ormore reference signals associated with the one or more externalenvironment settings, and to determine whether the sensor input isconsistent with, or meets, the one or more reference signals to evaluateperformance of the work implement in certain operational states.
 13. Amethod of operating a work machine including a frame structure and awork implement coupled to the frame structure that has a plurality ofground engagement tools each configured for movement in response tointeraction with an underlying surface in use of the work machine, themethod comprising: receiving, by a controller of the work machine,sensor input provided by a plurality of movement sensors each mounted ona corresponding one of the plurality of ground engagement tools that isindicative of a characteristic of movement of a corresponding groundengagement tool in use of the work machine; receiving, by thecontroller, load sensor input provided by at least one load sensor thatis indicative of a tow load associated with the work implement in use ofthe work machine; determining, by the controller, that the plurality ofground engagement tools is in contact with the ground in response toreceipt of the sensor input provided by the plurality of movementsensors that is indicative of characteristics of movement of theplurality of ground engagement tools in use of the work machine;receiving, by the controller, one or more external environment settingsinput by a user; and calculating, by the controller, at least one ratioof the tow load associated with the work implement to the position of atleast one ground engagement tool relative to the underlying surfacebased at least partially on the sensor input from the plurality ofmovement sensors and the load sensor input from the at least one loadsensor and on the one or more external environment settings.
 14. Themethod of claim 13, further comprising: detecting, by the controller,movement of each of the plurality of ground engagement tools based onthe sensor input; analyzing, by the controller, movements of theplurality of ground engagement tools relative to one another in responseto detection of movement of each of the plurality of ground engagementtools to evaluate performance uniformity of the work implement;obtaining, by the controller, performance history data for each of theplurality of ground engagement tools that is indicative ofcharacteristics of movement for the corresponding ground engagement toolin one or more previous operational states; and analyzing, by thecontroller, movement of each of the plurality of ground engagement toolsin a current operational state based on the sensor input and theperformance history data.
 15. The method of claim 13, furthercomprising: comparing, by the controller, the sensor input provided bythe plurality of movement sensors to one or more reference signalsassociated with the one or more external environment settings; anddetermining, by the controller, whether the sensor input is consistentwith, or meets, the one or more reference signals to evaluateperformance of the work implement in certain operational states.